Two-dimensional patrol device and cable penetrating shaft method of two-dimensional patrol device

Abstract

The application discloses a two-dimensional patrol device and a cable penetrating shaft method of the two-dimensional patrol device. The device comprises a first camera support with a first camera and a second camera support with a second camera arranged at two ends of a pitch shaft assembly respectively; an azimuth shaft assembly is arranged on the pitch shaft support and forms a symmetrical structure with the pitch shaft support; a first camera cable is connected with the first camera at one end and connected with an electric connector panel at the other end and led out from the first camera support, the shaft center hole of the pitch shaft assembly and the shaft center of the azimuth shaft assembly; a second camera cable is connected with the second camera at one end and connected with the electric connector panel at the other end and led out from the second camera support, the shaft center hole of the pitch shaft assembly and the shaft center of the azimuth shaft assembly; a pitch shaft cable is led out from the shaft center of the azimuth shaft assembly and connected with the electric connector panel; and an azimuth shaft cable is connected with the electric connector panel. The application reduces the abrasion of the cable and improves the reliability and service life of the two-dimensional patrol device.

Description

Technical Field

[0001] This invention relates to the field of spacecraft technology, and in particular to a two-dimensional inspection device and a method for threading cables through the two-dimensional inspection device. Background Technology

[0002] Two-dimensional (2D) inspection devices are crucial for the on-orbit safety of spacecraft. Applicable to various high-value spacecraft in Earth orbit, they enable functions such as space debris detection, identification, and management. They have become an essential component for spacecraft in the space security field and are gradually being extended to other high-value spacecraft. As a standard feature of spacecraft, the demand for 2D inspection devices is high.

[0003] Two-dimensional inspection devices are characterized by their complex optomechanical structure, large detection range, high number of rotations, and high stability requirements. Furthermore, the on-orbit working time of two-dimensional inspection devices is no less than 12 years, and the number of rotations of their rotating cables on the orbit is generally in the millions. This makes them one of the key and weak links in achieving long product life and high reliability, which brings higher requirements and difficulties to the cable assembly and wiring of two-dimensional inspection devices. Summary of the Invention

[0004] The purpose of this invention is to provide a two-dimensional inspection device and a method for threading the cable of the two-dimensional inspection device onto a shaft, so as to solve the problem that the rotating cable of the inspection device is easily damaged due to its complex optomechanical structure and the number of rotations.

[0005] To solve the above problems, the present invention is achieved through the following technical solution:

[0006] A two-dimensional inspection device includes: a pitch axis assembly, a first camera bracket 201 and a second camera bracket 202 respectively disposed at both ends of the pitch axis assembly; a first camera 211 disposed on the first camera bracket 201; a second camera 212 disposed on the second camera bracket 202; an azimuth axis assembly disposed on the pitch axis bracket 100, forming a symmetrical structure with the pitch axis bracket 100; and an electrical connector panel 400. A first camera cable, one end of which is connected to the first camera 211, and the other end of which is led out from the first camera bracket 201, a central hole of the pitch axis assembly, and the axis center of the azimuth axis assembly and connected to the electrical connector panel 400. The second camera cable has one end connected to the second camera 212, and the other end leads out from the second camera bracket 202, another axial hole of the pitch axis assembly, and the axis center of the azimuth axis assembly and connects to the electrical connector panel 400; the pitch axis cable leads out from the axis center of the azimuth axis assembly and connects to the electrical connector panel 400; the azimuth axis cable 510 is connected to the electrical connector panel 400.

[0007] Optionally, the pitch axis assembly includes: a pitch axis bracket 100 having a first end and a second end disposed opposite to each other; a first pitch axis 101 disposed at the first end of the pitch axis bracket 100; and a second pitch axis 102 disposed at the second end of the pitch axis bracket 100.

[0008] Optionally, the first camera bracket 201 is mounted on the first pitch axis 101, and the first pitch axis 101 drives the first camera bracket 201 to rotate in the pitch direction; the second camera bracket 202 is mounted on the second pitch axis 102, and the second pitch axis 102 drives the second camera bracket 202 to rotate in the pitch direction.

[0009] Optionally, the azimuth axis assembly includes: an azimuth axis frame 300, which is disposed on one surface of the pitch axis support 100 and located on the center line of the pitch axis support 100; an azimuth axis 310, which is disposed within the azimuth axis frame 300 and located on the center line of the pitch axis support 100; and a central hole is provided at the center of the azimuth axis 310.

[0010] Optionally, the first camera bracket 201 includes: a first bracket body, the back of which is connected to the first pitch axis 101, and the front of which is provided with a first camera mounting reference surface 2114 and a first central opening 2112, which is located at the center of the first camera mounting reference surface 2114 and communicates directly with the central hole of the first pitch axis 101. A first wire groove 2113 is opened on the first camera mounting reference surface 2114 and communicates with the first central opening 2112. A first camera cable starts from the electrical connector at the end of the first camera 211, passes around the body of the first camera 211, and is led out along the first wire groove 2113 from the first central opening 2112, the central hole of the first pitch axis 101, and the central hole of the azimuth axis 310 to connect with the electrical connector panel 400; when the first pitch axis 101 performs axial movement, the first camera cable is stationary relative to the first pitch axis 101.

[0011] The second camera bracket 202 includes: a second bracket body, the back of which is connected to the second pitch axis 102, and the front of which is provided with a second camera mounting reference surface 2124 and a second central opening 2122, which is located at the center of the second camera mounting reference surface 2124 and communicates directly with the central hole of the second pitch axis 102. A second cable guide 2123 is opened on the second camera mounting reference surface 2124 and communicates with the second central opening 2122. The second camera cable starts from the electrical connector at the end of the second camera 212, passes around the body of the second camera 212, and is led out along the second cable guide 2123 from the second central opening 2122, the central hole of the second pitch axis 102, and the central hole of the azimuth axis 310 to connect with the electrical connector panel 400; when the second pitch axis 102 performs axial movement, the second camera cable is stationary relative to the second pitch axis 102.

[0012] Optionally, the first camera cable and the second camera cable each have two cables, one of which supplies power to the corresponding camera, and the other is used for communication with the corresponding camera. The pitch axis cable includes: a first pitch axis cable 505, which merges with the first camera cable within the pitch axis bracket 100 and extends from the axial hole of the azimuth axis 310 to connect to the electrical connector panel 400; and a second pitch axis cable 506, which merges with the second camera cable within the pitch axis bracket 100 and extends from the axial hole of the azimuth axis 310 to connect to the electrical connector panel 400. When the azimuth axis 310 performs axial movement, the first camera cable, the second camera cable, and the pitch axis cable remain stationary relative to the azimuth axis 310.

[0013] Optionally, the first camera cable, the second camera cable, the pitch axis cable, and the azimuth axis cable 510 are led out from the end of the azimuth axis 310 in a stranded manner and connected to the electrical connector panel 400.

[0014] Optionally, the radial width of the first guide groove 2113 and the diameter of the first central opening 2112 are 10 times the diameter of the first camera cable; the radial width of the second guide groove 2123 and the diameter of the second central opening 2122 are 10 times the diameter of the second camera cable. The length of the stranded cable is at least 150 mm; the bending radius of the stranded cable is 20 times the diameter of the cable. The exposed portions of the first camera cable, the second camera cable, the pitch axis cable, and the azimuth axis cable 510 are heat-controlled wrapped; and adhesive is applied or the cables are bound at each bend.

[0015] On the other hand, the present invention also provides a cable threading method for the two-dimensional inspection device as described above, including: step S1, assembling the pitch axis assembly and the azimuth axis assembly; adopting a structural configuration in which the azimuth axis assembly is vertical and the pitch axis assembly is horizontal, symmetrical along the center line of the azimuth axis assembly.

[0016] The first camera bracket and the second camera bracket are installed at both ends of the pitch axis assembly; the first camera is installed on the first camera bracket and the second camera is installed on the second camera bracket. The first camera and the second camera are placed on the center line of the pitch axis assembly and the overall center of gravity is located on the center line of the azimuth axis.

[0017] Step S2: Lay out the camera cable, pitch axis cable, and azimuth axis cable and mark the length of each part; combine the camera cable and pitch axis cable and pass them together through the azimuth axis. The first camera cable passes sequentially through the central hole of the first pitch axis, the first center opening of the first camera bracket, and around the first camera body via the first wire groove. The second camera cable passes through the central hole of the pitch axis, the first center opening of the second camera bracket, and around the second camera body via the second wire groove. After passing through the axis, check that the cable markings of each part reach the predetermined positions, and then solder a section of the first camera cable and a section of the second camera cable to the corresponding electrical connectors of the first camera and the second camera, respectively. Step S3: Spin all the cables passing through the azimuth axis and the azimuth axis cable and fix them to the electrical connector panel.

[0018] Optionally, it also includes: step S4, performing thermal control wrapping on all exposed parts of the cable.

[0019] Step S5: Conduct cable torque test and full-field-of-view coverage test. If the cable has excessive torque at a local rotation angle, adjust it in time to avoid cable routing and bending radius. After the test is completed without problems, apply glue to reinforce or bind all bends of the cable.

[0020] This invention has at least one of the following technical effects:

[0021] This invention achieves a static state by passing the corresponding cable through the central holes of the corresponding pitch and azimuth axes, thereby keeping the corresponding cable stationary relative to the axial movement of the pitch axis and / or the axial movement of the azimuth axis. The cable rotation amplitude is relatively large The smaller size reduces cable wear during long-cycle two-dimensional rotation. The cable passes through both the pitch and azimuth axes, minimizing the impact of cable torque on mechanism control. This meets the long-cycle, full-range detection requirements of two-dimensional patrol devices, improving their reliability and lifespan. This will strongly promote the development of two-dimensional patrol devices, enabling them to better serve national defense and economic development. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of a two-dimensional inspection device provided in an embodiment of the present invention;

[0023] Figure 2 This is a cable routing diagram of a two-dimensional inspection device provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the support structure for a first camera according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the support structure for a second camera provided in an embodiment of the present invention. Detailed Implementation

[0026] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, further illustrates the two-dimensional inspection device and its cable threading method proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, intended only to facilitate and clearly illustrate the embodiments of this invention. Please refer to the drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to enable those skilled in the art to understand and read them, and are not intended to limit the implementation conditions of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by this invention, should still fall within the scope of the technical content disclosed in this invention.

[0027] like Figure 1 As shown, this embodiment provides a two-dimensional inspection device, including: a pitch axis assembly, a first camera bracket 201 and a second camera bracket 202 respectively disposed at both ends of the pitch axis assembly. A first camera 211 is disposed on the first camera bracket 201; a second camera 212 is disposed on the second camera bracket 202. Therefore, in this embodiment, two cameras are used for high-precision optical measurement, and each part is modularly replaceable. Cameras with different or the same functions can be selected according to requirements to complete composite functions such as visible light, infrared, and ultraviolet detection, optical imaging, and ranging. The device scans and detects a designated airspace according to a set working mode and scanning route, covering an area of ​​(azimuth ±180°, pitch ±90°).

[0028] An azimuth axis assembly is mounted on the pitch axis bracket 100 and forms a symmetrical structure with the pitch axis bracket 100; an electrical connector panel 400.

[0029] A first camera cable has one end connected to the first camera 211, and the other end led out from the first camera bracket 201, a central hole of the pitch axis assembly, and the axis center of the azimuth axis assembly and connected to the electrical connector panel 400.

[0030] The second camera cable has one end connected to the second camera 212, and the other end leads out from the second camera bracket 202, another axial hole of the pitch axis assembly, and the axis center of the azimuth axis assembly and connects to the electrical connector panel 400; the pitch axis cable leads out from the axis center of the azimuth axis assembly and connects to the electrical connector panel 400; the azimuth axis cable 510 is connected to the electrical connector panel 400.

[0031] This embodiment achieves this by passing the corresponding cables through the central holes of the corresponding pitch and azimuth axes, thus keeping the cables stationary relative to the axis of motion of the pitch axis and / or the axis of motion of the azimuth axis. This reduces wear on the cables from long-cycle rotation and minimizes the impact of cable rotation torque on the mechanism control, meeting the long-cycle, full-range detection requirements of the two-dimensional patrol device. It improves the reliability and lifespan of the two-dimensional patrol device, strongly promoting its development and enabling it to better serve national defense and economic development.

[0032] Furthermore, the two-dimensional inspection device provided in this embodiment adopts a configuration with a vertical azimuth axis and a horizontal pitch axis. Two cameras are evenly placed on the left and right sides of the pitch axis centerline, with the overall center of gravity falling on the azimuth axis centerline, providing a highly stable and high-precision support platform for camera measurements. The entire device features a lightweight, compact, and modular design, with most of the rotating cable routing located inside the two-dimensional inspection device, effectively preventing snagging with external components.

[0033] Combination Figure 1 and Figure 2 As shown, in this embodiment, the pitch axis assembly includes: a pitch axis bracket 100 having a first end and a second end disposed opposite to each other; a first pitch axis 101 disposed at the first end of the pitch axis bracket 100; and a second pitch axis 102 disposed at the second end of the pitch axis bracket 100.

[0034] The first camera bracket 201 is mounted on the first pitch axis 101, and the first pitch axis 101 drives the first camera bracket 201 to rotate in the pitch direction; the second camera bracket 202 is mounted on the second pitch axis 102, and the second pitch axis 102 drives the second camera bracket 202 to rotate in the pitch direction.

[0035] Please continue to refer to this. Figure 1 and Figure 2As shown, in this embodiment, the azimuth axis assembly includes: an azimuth axis frame 300, which is disposed on one surface of the pitch axis support 100 and located on the center line of the pitch axis support 100; an azimuth axis 310, which is disposed within the azimuth axis frame 300 and located on the center line of the pitch axis support 100; and a central hole is provided at the center of the azimuth axis 310.

[0036] like Figure 3 As shown, the first camera bracket 201 includes: a first bracket body, the back of which is connected to the first pitch axis 101, and the front of which is provided with a first camera mounting reference surface 2114, a first central opening 2112 located at the center of the first camera mounting reference surface 2114 and communicating with the central hole of the first pitch axis 101. A first wire guide groove 2113 is formed on the first camera mounting reference surface 2114 and communicates with the first central opening 2112. The first camera cable (including cable 501 and cable 502, one of which supplies power to the corresponding camera and the other for communication with the corresponding camera) starts from the electrical connector at the end of the first camera 211, bypasses the body of the first camera 211, and runs along the first wire groove 2113 (the first camera cable is fixed in the groove with adhesive) from the first central opening 2112, the central hole of the first pitch axis 101, and the central hole of the azimuth axis 310 to connect with the electrical connector panel 400; when the first pitch axis 101 performs axial movement, the first camera cable is stationary relative to the first pitch axis 101.

[0037] Specifically, the first camera cable passes through the first central opening and then through the pitch axis via a through-shaft. This part of the cable remains relatively stationary with respect to the first pitch axis when the shaft system rotates, which can reduce the torque of the first camera cable and improve its reliability.

[0038] Please continue to refer to this. Figure 3 As shown, the front portion of the first bracket body is also provided with a heat dissipation surface 2111 for heat dissipation of the first camera 211. The front portion of the first bracket body is also provided with a first balancing guide hole 2110 for balancing the first camera bracket 201 when it is installed, thereby improving the installation accuracy of the camera.

[0039] The first bracket body is also provided with a first locking hole 2115, which is used to fix the first camera 211.

[0040] like Figure 4As shown, the second camera bracket 202 includes: a second bracket body, the back of which is connected to the second pitch axis 102, and the front of which is provided with a second camera mounting reference surface 2124 and a second central opening 2122, which is located at the center of the second camera mounting reference surface 2124 and communicates directly with the central hole of the second pitch axis 102; and a second wire guide groove 2123, which is opened on the second camera mounting reference surface 2124 and communicates with the second central opening 2122. The second camera cable (including cable 503 and cable 504, one of which supplies power to the corresponding camera and the other for communication with the corresponding camera) starts from the electrical connector at the end of the second camera 212, bypasses the body of the second camera 212, and runs along the second wire groove 2123 (the second camera cable is fixed in the groove with adhesive) from the second center opening 2122, the axis hole of the second pitch axis 102, and the axis hole of the azimuth axis 310 to connect to the electrical connector panel 400; when the second pitch axis 102 performs axis movement, the second camera cable is stationary relative to the second pitch axis 102.

[0041] Specifically, the second camera cable passes through the second central opening and then through the pitch axis via a through-shaft. This part of the cable remains relatively stationary with respect to the second pitch axis when the shaft system rotates, which can reduce the torque of the second camera cable and improve its reliability.

[0042] Please continue to refer to this. Figure 4 As shown, the front portion of the second bracket body is also provided with a heat dissipation surface 2121 for heat dissipation of the second camera 212. The front portion of the second bracket body is also provided with a second balancing guide hole 2120, which is used to balance the first camera bracket 201 when the second camera bracket 202 is installed, thereby improving the installation accuracy of the camera.

[0043] The second bracket body is also provided with a second locking hole 2125, which is used to fix the second camera 212.

[0044] Please continue to refer to this. Figure 1 and 2 As shown, the pitch axis cable includes: a first pitch axis cable 505, which merges with the first camera cable within the pitch axis bracket 100 and extends from the axial hole of the azimuth axis 310 to connect to the electrical connector panel 400; and a second pitch axis cable 506, which merges with the second camera cable within the pitch axis bracket 100 and extends from the axial hole of the azimuth axis 310 to connect to the electrical connector panel 400. When the azimuth axis 310 performs axial movement, the first camera cable, the second camera cable, and the pitch axis cable remain stationary relative to the azimuth axis 310.

[0045] Specifically, adhesive is applied to both ends of the azimuth axis to fix the cable. When the azimuth axis rotates, this part of the cable remains relatively stationary, which can reduce cable torque and improve cable reliability.

[0046] Please continue to refer to this. Figure 1 and 2 As shown, the first camera cable, the second camera cable, the pitch axis cable, and the azimuth axis cable 510 are led out from the end of the azimuth axis 310 in a stranded manner and connected to the electrical connector panel 400. The stranded length is determined according to the bending radius of the cable (i.e., the bending radius here should meet the bending radius requirements of the motion cable). Preferably, the stranded length is at least 150mm; the bending radius of the stranded cable is 20 times the cable diameter. When the azimuth axis rotates, this part of the cable swings back and forth with a small amplitude, and since it is outside the product body, this cable routing method is less prone to cable wear, improving cable reliability.

[0047] In this embodiment, the first conductor groove and the first central opening can be adjusted according to the cable diameter to meet the bending radius requirements of the stationary cable. Preferably, the radial groove width of the first conductor groove 2113 and the diameter of the first central opening 2112 are 10 times the diameter of the first camera cable.

[0048] The second conductor groove and the second central opening can be adjusted according to the cable diameter to meet the bending radius requirements of the stationary cable. Preferably, the radial groove width of the second conductor groove 2123 and the diameter of the second central opening 2122 are 10 times the diameter of the second camera cable.

[0049] In this embodiment, the exposed portions of the first camera cable, the second camera cable, the pitch axis cable, and the azimuth axis cable 510 are thermally wrapped.

[0050] Specifically, after the entire machine is assembled, the exposed parts of the cables of the above components are wrapped with multiple layers or F46 film according to the thermal control requirements. Then, cable torque test and full-field-of-view coverage test are carried out to test whether the local rotation angle torque of the cable is too large, so that the cable routing path and bending radius can be adjusted in time. After the test, the root of the electrical connector, the two ports of the pitch axis, and the two ports of the azimuth axis are reinforced with glue, and glue is applied to fix or bind the cables at each bend. The thermal control wires of the camera, pitch axis, and azimuth axis are generally routed together with the cables of the above components along the same path and are thermally wrapped to improve the cable's resistance to the space thermal environment.

[0051] On the other hand, the present invention also provides a cable threading method for the two-dimensional inspection device as described above, including: step S1, assembling the pitch axis assembly and the azimuth axis assembly; adopting a structural configuration in which the azimuth axis assembly is vertical and the pitch axis assembly is horizontal, symmetrical along the center line of the azimuth axis assembly.

[0052] The first camera bracket and the second camera bracket are installed at both ends of the pitch axis assembly; the first camera is installed on the first camera bracket and the second camera is installed on the second camera bracket. The first camera and the second camera are placed on the center line of the pitch axis assembly and the overall center of gravity is located on the center line of the azimuth axis.

[0053] Step S2: Lay out the camera cable, pitch axis cable, and azimuth axis cable and mark the length of each part; combine the camera cable and pitch axis cable and pass them together through the azimuth axis. The first camera cable passes sequentially through the central hole of the first pitch axis, the first center opening of the first camera bracket, and around the first camera body via the first wire guide groove. The second camera cable passes through the central hole of the pitch axis, the first center opening of the second camera bracket, and around the second camera body via the second wire guide groove.

[0054] After threading the cable through the shaft and checking that the cable markings on each part are in the predetermined positions, solder a section of the first camera cable and a section of the second camera cable to the corresponding electrical connectors of the first camera and the second camera, respectively.

[0055] Step S3: Strand all through-axis cables and azimuth axis cables from the azimuth axis and secure them to the electrical connector panel.

[0056] In this embodiment, the method further includes: step S4, performing thermal control wrapping on all exposed parts of the cable.

[0057] Step S5: Conduct cable torque test and full-field-of-view coverage test. If the cable has excessive torque at a local rotation angle, adjust it in time to avoid cable routing and bending radius. After the test is completed without problems, apply glue to reinforce or bind all bends of the cable.

[0058] Alternatively, the assembly sequence can be:

[0059] (1) The pitch axis assembly and azimuth axis assembly are assembled;

[0060] (2) Lay out the cable and mark the length of each part;

[0061] (3) The cables of the first camera, the second camera, the first pitch axis, and the second pitch axis converge and pass through the azimuth axis together;

[0062] (4) The cable of the first camera passes through the first pitch axis, and the cable of the second camera passes through the second pitch axis;

[0063] (5) After threading the cable through the shaft, check whether the cable markings on each part reach the predetermined position, and weld the electrical connectors at both ends of the cable.

[0064] (6) Install the first camera bracket and the second camera bracket;

[0065] (7) The rotating cables of the first camera and the second camera are respectively passed out from the wire groove and fixed with glue;

[0066] (8) Install the first and second cameras, and rotate the electrical connectors between the cables and the cameras to fix them in place;

[0067] (9) The six through-axis cables and one azimuth axis control cable are routed from the azimuth axis and fixed to the electrical connector panel.

[0068] (10) Perform thermal control wrapping on the exposed parts of the cable.

[0069] (11) Conduct cable torque test and full-field coverage test to test whether the cable has excessive local rotation angle torque, and adjust in time to avoid cable routing and bending radius; after the test is successful, apply glue to each bend of the cable to reinforce or bind it into shape.

[0070] This embodiment analyzes the difficulties in the overall cable wiring process of the two-dimensional inspection device, proposes a high-reliability, long-life cable threading method for overall assembly, and summarizes the design process requirements, process parameters, and implementation methods for cable threading. This can improve the reliability and lifespan of the two-dimensional inspection device and meet its requirements for long-term, full-range detection of space debris.

[0071] In summary, this embodiment proposes a two-dimensional inspection device and a high-reliability, long-life cable threading method, which can improve its reliability and lifespan and meet the requirements for long-term, full-range detection of space debris.

[0072] The first and second cameras each contain two cables for power supply and communication. These cables begin at the camera's electrical connector, enter the pitch axis through the cable tray on the camera mount, and then exit through the other side of the pitch axis. The cables from the first and second cameras, along with the pitch axis control cable—a total of six cables—converge and exit through the azimuth axis. Finally, the six through-axis cables and the azimuth axis control cable are slung a certain length and fixed to the electrical connector panel. With this cable slung method, the four through-axis cables in the pitch axis remain relatively stationary during pitch axis rotation, and the six through-axis cables in the azimuth axis remain relatively stationary during azimuth axis rotation. The azimuth axis ends are slung to the electrical connector panel, resulting in cables with minimal oscillation amplitude. These cables are less prone to wear during long-cycle rotation of the mechanism and exert less interference torque on the mechanism, thus improving the reliability of the two-dimensional inspection device. After the cables are threaded through the shaft, cable torque and full-field-of-view coverage tests are conducted. Adjustments are made in a timely manner to avoid excessive torque at local rotation angles in the cable routing. After the tests are completed without problems, glue is applied and the cables are bound and shaped. The exposed parts of the cables are then thermally wrapped to improve the cables' resistance to the thermal environment.

[0073] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] In the description of this invention, it should be understood that the terms "center," "height," "thickness," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0075] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0076] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0077] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A two-dimensional patrolling device, characterized by, include: Pitch axis assembly, the pitch axis assembly comprising: A pitch axis support (100) having a first end and a second end disposed opposite to each other; A first pitch axis (101) is disposed at the first end of the pitch axis bracket (100); The second pitch axis (102) is disposed at the second end of the pitch axis bracket (100); The first camera bracket (201) and the second camera bracket (202) are respectively disposed at both ends of the pitch axis assembly; the first camera bracket (201) is disposed on the first pitch axis (101), and the first pitch axis (101) drives the first camera bracket (201) to rotate in the pitch direction; The second camera bracket (202) is mounted on the second pitch axis (102), and the second pitch axis (102) drives the second camera bracket (202) to rotate in the pitch direction; The first camera (211) is mounted on the first camera bracket (201); A second camera (212) is mounted on a second camera bracket (202); an azimuth axis assembly is mounted on a pitch axis bracket (100) and forms a symmetrical structure with the pitch axis bracket (100); the azimuth axis assembly includes: an azimuth axis frame (300) mounted on one surface of the pitch axis bracket (100) and located on the center line of the pitch axis bracket (100); an azimuth axis (310) is mounted inside the azimuth axis frame (300) and located on the center line of the pitch axis bracket (100); the azimuth axis (310) has a central hole at its center. Electrical connector panel (400); A first camera cable, one end of which is connected to the first camera (211), and the other end of which is led out from the first camera bracket (201), a central hole of the pitch axis assembly and the axis center of the azimuth axis assembly and connected to the electrical connector panel (400); The second camera cable has one end connected to the second camera (212) and the other end led out from the second camera bracket (202), another axial hole of the pitch axis assembly and the axial center of the azimuth axis assembly and connected to the electrical connector panel (400). A pitch axis cable, which extends from the center of the azimuth axis assembly and connects to the electrical connector panel (400); The azimuth axis cable (510) is connected to the electrical connector panel (400).

2. The two-dimensional cruising device according to claim 1, wherein The first camera bracket (201) includes: a first bracket body, the back of which is connected to the first pitch axis (101), and the front is provided with a first camera mounting reference surface (2114) and a first central opening (2112), which is located at the center of the first camera mounting reference surface (2114) and is directly connected to the central hole of the first pitch axis (101); The first wire guide groove (2113) is opened on the first camera mounting reference surface (2114) and communicates with the first central opening (2112); The first camera cable starts from the electrical connector at the end of the first camera (211), bypasses the body of the first camera (211), and runs along the first wire groove (2113) from the first central opening (2112), the central hole of the first pitch axis (101), and the central hole of the azimuth axis (310) to connect with the electrical connector panel (400); when the first pitch axis (101) performs axial movement, the first camera cable is stationary relative to the first pitch axis (101); The second camera bracket (202) includes: a second bracket body, the back of which is connected to the second pitch axis (102), and the front of which is provided with a second camera mounting reference surface (2124) and a second central opening (2122), which is located at the center of the second camera mounting reference surface (2124) and is directly connected to the central hole of the second pitch axis (102); The second wire guide groove (2123) is opened on the second camera mounting reference surface (2124) and communicates with the second central opening (2122); The second camera cable starts from the electrical connector at the end of the second camera (212), bypasses the body of the second camera (212), runs along the second wire groove (2123) from the second center opening (2122), the axis hole of the second pitch axis (102), and the axis hole of the azimuth axis (310) and connects to the electrical connector panel (400); when the second pitch axis (102) performs axial movement, the second camera cable is stationary relative to the second pitch axis (102).

3. The two-dimensional cruising device according to claim 2, wherein The first camera cable and the second camera cable each have two cables, one of which supplies power to the corresponding camera and the other is used for communication with the corresponding camera. The pitch axis cable includes: a first pitch axis cable (505), which merges with the first camera cable in the pitch axis bracket (100) and is led out from the axial hole of the azimuth axis (310) and connected to the electrical connector panel (400); The second pitch axis cable (506) merges with the second camera cable in the pitch axis bracket (100) and is led out from the axial hole of the azimuth axis (310) to connect to the electrical connector panel (400). When the azimuth axis (310) moves along the axis, the first camera cable, the second camera cable and the pitch axis cable remain stationary relative to the azimuth axis (310).

4. The two-dimensional cruising device according to claim 3, wherein The first camera cable, the second camera cable, the pitch axis cable, and the azimuth axis cable (510) are led out from the end of the azimuth axis (310) in a stranded manner and connected to the electrical connector panel (400).

5. The two-dimensional cruising device according to claim 4, wherein The radial width of the first wire guide groove (2113) and the diameter of the first central opening (2112) are 10 times the wire diameter of the first camera cable; the radial width of the second wire guide groove (2123) and the diameter of the second central opening (2122) are 10 times the wire diameter of the second camera cable. The length of the stranded cable is at least 150mm; the bending radius of the stranded cable is 20 times the diameter of the cable. The exposed portions of the first camera cable, the second camera cable, the pitch axis cable, and the azimuth axis cable (510) are thermally wrapped. Furthermore, adhesive is applied to fix or bind the cables at each bend.

6. A method of cable threading for a two-dimensional surveying device as claimed in claim 5, characterized in that, include: Step S1: Complete the assembly of the pitch axis assembly and the azimuth axis assembly; It adopts a structural configuration that is symmetrical along the centerline of the azimuth axis assembly, with the azimuth axis assembly being vertical and the pitch axis assembly being horizontal. The first camera bracket and the second camera bracket are installed at both ends of the pitch axis assembly; the first camera is installed on the first camera bracket, the second camera is installed on the second camera bracket, and the first camera and the second camera are placed on the center line of the pitch axis assembly and the overall center of gravity is located on the center line of the azimuth axis. Step S2: Lay out the camera cable, pitch axis cable, and azimuth axis cable and mark the length of each part; combine the camera cable and pitch axis cable and pass them together through the azimuth axis. The first camera cable passes sequentially through the central hole of the first pitch axis, the first central opening of the first camera bracket, and around the first camera body via the first wire groove; The second camera cable passes through the spindle hole of the second pitch axis, the second center opening of the second camera bracket, and around the second camera body via the second wire groove; After threading the shaft and checking that the cable markings of each part reach the predetermined positions, solder a section of the first camera cable and a section of the second camera cable to the corresponding electrical connectors of the first camera and the second camera, respectively. Step S3: Strand all through-axis cables and azimuth axis cables from the azimuth axis and secure them to the electrical connector panel.

7. The cable threading method for the two-dimensional inspection device as described in claim 6, characterized in that, Also includes Step S4: Perform thermal control wrapping on all exposed parts of the cables; Step S5: Perform cable torque test and full-field-of-view coverage test. If the cable has excessive torque at a local rotation angle, adjust the cable routing path and bending radius in time. After the test is completed without any problems, apply adhesive to reinforce or bind all the bends of the cables.

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